CN112306048A - Vehicle control system, vehicle control device, and vehicle control method - Google Patents
Vehicle control system, vehicle control device, and vehicle control method Download PDFInfo
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- CN112306048A CN112306048A CN202010608015.1A CN202010608015A CN112306048A CN 112306048 A CN112306048 A CN 112306048A CN 202010608015 A CN202010608015 A CN 202010608015A CN 112306048 A CN112306048 A CN 112306048A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000004891 communication Methods 0.000 description 16
- 230000006870 function Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 10
- 230000002093 peripheral effect Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 5
- 239000004973 liquid crystal related substance Substances 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention provides a vehicle control system, a vehicle control device and a vehicle control method. The vehicle control system includes: a temporary destination or other setting unit that sets a temporary destination or a temporary destination area to which the vehicle is heading in the autonomous driving state; a travel control unit that causes the vehicle to travel to a temporary destination or a temporary target area set by the temporary destination or the like setting unit in an autonomous driving state; a position information acquisition unit that acquires position information of the vehicle; and a switching unit that switches a driving state of the vehicle from an automatic driving state to a manual driving state or a remote operation driving state when it is detected that the vehicle has reached the temporary destination or the temporary destination area based on the position information.
Description
Technical Field
The present disclosure relates to a vehicle control system, a vehicle control device, and a vehicle control method.
Background
From the viewpoint of privacy protection, there is a demand that a carrier does not want to know the address of a delivery destination or the like.
On the other hand, in order to solve the problem of insufficient human resources of the driver, it is considered that the distribution is performed by automatic driving or remote operation driving (for example, U.S. Pat. No. 9964948).
Disclosure of Invention
Problems to be solved by the invention
In the case of delivery by automatic driving, since a carrier (driver) does not go to a delivery destination, it is superior in terms of privacy protection compared to the case where the carrier is directly delivered.
However, even in this case, since it is necessary to input the address of the delivery destination, there is room for improvement in that there is a possibility that the address of the delivery destination may be leaked by the carrier.
The present disclosure provides a vehicle control system, a vehicle control device, and a vehicle control method that are excellent in terms of privacy protection.
Means for solving the problems
A vehicle control system according to a first aspect includes: a temporary destination or other setting unit that sets a temporary destination or a temporary destination area to which the vehicle is heading in the autonomous driving state; a travel control unit that causes the vehicle to travel to a temporary destination or a temporary target area set by the temporary destination or the like setting unit in an autonomous driving state; a position information acquisition unit that acquires position information of the vehicle; and a switching unit that switches a driving state of the vehicle from an automatic driving state to a manual driving state or a remote operation driving state when it is detected that the vehicle has reached the temporary destination or the temporary destination area based on the position information.
In this vehicle control system, the vehicle is automatically driven toward the set temporary destination or temporary destination area.
When it is detected that the vehicle has reached the temporary destination or the temporary destination area based on the acquired position information of the vehicle, the vehicle is switched from the automatic driving state to the manual driving state or the remote operation driving state.
Therefore, if the user of the vehicle control system sets a place or area different from the original destination as the temporary destination or the temporary destination area, the user can automatically drive the vehicle up to the temporary destination or the temporary destination area, and the user can manually drive the vehicle from the temporary destination or in the temporary destination area up to the original destination or perform remote operation driving.
Therefore, the possibility that the administrator of the vehicle control system knows the original destination of the user is eliminated, and the vehicle control system is excellent in terms of privacy protection.
The term "remote operation driving" refers to a driving of a vehicle by an operator operating the vehicle at a position distant from the vehicle as an operation target.
A vehicle control system according to a second aspect is the vehicle control system according to the first aspect, further including a notification unit that, when it is detected that the vehicle has reached the temporary destination or the temporary destination area based on the position information, notifies a driver of the vehicle in a manual driving state or a remote driver of the vehicle in a remote operation driving state of the vehicle when the vehicle has reached the temporary destination or the temporary destination area.
In this vehicle control system, when it is detected that the vehicle has reached the temporary destination or the temporary destination area based on the acquired position of the vehicle, the driver in the manual driving state or the remote driver in the remote operation driving state is notified that the vehicle has reached the temporary destination or the temporary destination area.
Therefore, the driver in the manual driving state or the remote driver in the remote operation driving state can recognize the situation of the drivable vehicle. In other words, the driving state of the vehicle can be smoothly switched.
A vehicle control system according to a third aspect is the vehicle control system according to the first or second aspect, wherein the vehicle is a vehicle that distributes a cargo, and the vehicle is configured such that a receiver of the cargo can be driven manually or by remote operation from the temporary destination to a delivery destination of the cargo.
In this vehicle control system, the vehicle that delivers the cargo travels to the temporary destination by automatic driving, and the receiver of the cargo can travel by manual driving or remote operation driving from the temporary destination to the delivery destination. Therefore, the possibility that the address of the recipient as the delivery destination is known to the delivery person or the like is suppressed, and it is excellent in terms of privacy protection.
A vehicle control system according to a fourth aspect is the vehicle control system according to the first or second aspect, wherein the vehicle is a vehicle that distributes a cargo, the temporary destination area is an area including a distribution destination of the cargo, and the receiver can manually or remotely operate and drive the vehicle within the temporary destination area to the distribution destination of the cargo.
In this vehicle control system, since the temporary destination area is an area including a delivery destination of the cargo, the vehicle that delivers the cargo travels to the temporary destination area by automatic driving and travels to the delivery destination in the temporary destination area, and the receiver of the cargo can travel by manual driving or remote operation driving. Therefore, the possibility that the address of the recipient as the delivery destination is known to the delivery person or the like is suppressed, and it is excellent in terms of privacy protection.
A vehicle control system according to a fifth aspect is the vehicle control system according to any one of the first to fourth aspects, wherein the vehicle is temporarily stopped when the vehicle reaches a temporary destination or a temporary destination area.
In this vehicle control system, when the vehicle reaches a temporary destination or a temporary destination area, it will be temporarily stopped. Therefore, even if the vehicle is switched from the automatic driving state to the manual driving state or the remote operation driving state, the user is not required to immediately drive the vehicle. That is, when the user is convenient, the user can drive the vehicle to the original destination by manually driving or remotely operating the vehicle.
A vehicle control system according to a sixth aspect is the vehicle control system according to any one of the first to fifth aspects, wherein the position information acquisition unit stops the acquisition of the position information when the vehicle is in a manual driving state or a remote operation driving state.
In this vehicle control system, when the vehicle is in a manual driving state or a remote operation driving state, the acquisition of the position information is stopped. Therefore, when the user drives the vehicle from the temporary destination to the original destination or drives the vehicle in the temporary destination area to the original destination, the position information thereof is not recorded. In other words, it is possible to further suppress the user's original destination from being grasped by the system administrator, and it is therefore preferable to protect the user's privacy.
A vehicle control device of a seventh aspect includes: a travel control unit that causes the vehicle to travel to a set temporary destination or temporary destination area in an autonomous driving state; a position information acquisition unit that acquires position information of the host vehicle; and a switching unit that switches the driving state of the vehicle from an automatic driving state to a manual driving state or a remote operation driving state when it is detected that the vehicle has reached the temporary destination or the temporary destination area based on the position information.
In this vehicle control device, the host vehicle is automatically driven toward the set temporary destination or temporary destination area.
When it is detected that the vehicle has reached the temporary destination or the temporary destination area based on the acquired position information of the vehicle, the vehicle is switched from the automatic driving state to the manual driving state or the remote operation driving state.
Therefore, if the user of the vehicle control device sets a place or area different from the original destination as the temporary destination or the temporary destination area, the user can drive the vehicle automatically until the temporary destination or the temporary destination area and manually or remotely from the temporary destination or within the temporary destination area until the original destination.
Therefore, it is possible to eliminate the situation where the administrator of the vehicle control apparatus knows the original destination of the user, and it is excellent in terms of privacy protection.
A vehicle control device according to an eighth aspect is the vehicle control device according to the seventh aspect, wherein when it is detected that the host vehicle has reached the temporary destination or the temporary destination area based on the position information, a notification is made to a driver of the host vehicle in a manual driving state or a remote driver of the host vehicle in a remote operation driving state when the host vehicle has reached the temporary destination or the temporary destination area.
In this vehicle control device, when it is detected that the vehicle has reached the temporary destination or the temporary destination area based on the acquired position of the vehicle, the vehicle control device notifies the driver in the manual driving state or the remote driver in the remote operation driving state that the vehicle has reached the temporary destination or the temporary destination area.
Therefore, the driver in the manual driving state or the remote driver in the remote operation driving state can recognize that the vehicle is drivable. In other words, the driving state of the vehicle can be smoothly switched.
A vehicle control device according to a ninth aspect is the vehicle control device according to the seventh or eighth aspect, wherein the host vehicle is a vehicle that distributes a cargo, and the vehicle is configured such that a receiver of the cargo can be driven manually or remotely from the temporary destination to the distribution destination of the cargo.
In this vehicle control device, the vehicle that distributes the cargo travels to the temporary destination by automatic driving, and the receiver of the cargo can travel by manual driving or remote operation driving from the temporary destination to the distribution destination. Therefore, the possibility that the address of the recipient as the delivery destination is known to the delivery person or the like is suppressed, and it is excellent in terms of privacy protection.
A vehicle control device according to a tenth aspect is the vehicle control device according to the seventh or eighth aspect, wherein the host vehicle is a vehicle that distributes a cargo, the temporary destination area is an area including a distribution destination of the cargo, and a receiver of the cargo can manually drive or remotely operate the host vehicle up to the distribution destination of the cargo within the temporary destination area.
In this vehicle control device, since the temporary destination area is an area including a delivery destination of the cargo, the vehicle that delivers the cargo travels to the temporary destination area by automatic driving, and the receiver of the cargo can travel by manual driving or remote operation driving until the delivery destination in the temporary destination area. Therefore, the possibility that the address of the recipient as the delivery destination is known to the delivery person or the like is suppressed, and it is excellent in terms of privacy protection.
A vehicle control device according to an eleventh aspect is the vehicle control device according to any one of the seventh to tenth aspects, wherein the vehicle is temporarily stopped when reaching a temporary destination or a temporary destination area.
In this vehicle control device, when the vehicle reaches a temporary destination or a temporary destination area, the vehicle is temporarily stopped. Therefore, even if the vehicle is switched from the automatic driving state to the manual driving state or the remote operation driving state, the user does not need to immediately drive the vehicle. That is, when the user is convenient, the user can drive the vehicle to the original destination by manually driving the vehicle or remotely operating the vehicle.
A vehicle control device according to a twelfth aspect is the vehicle control device according to any one of the seventh to eleventh aspects, wherein the position information acquisition unit stops the acquisition of the position information when the vehicle is in a manual driving state or a remote operation driving state.
In this vehicle control device, when the vehicle is in the manual driving state or the remote operation driving state, the acquisition of the position information is stopped. Therefore, in the case where the user drives the vehicle from the temporary destination to the original destination or from the temporary destination area to the original destination, the position information thereof is not recorded. In other words, it is possible to further suppress the user's original destination from being grasped by the system administrator, and it is therefore preferable to protect the user's privacy.
Effects of the invention
As described above, the vehicle control system and the vehicle control device according to the present invention are excellent in protecting the privacy of the user.
Drawings
Fig. 1 is a schematic configuration diagram illustrating an entire vehicle control system according to the embodiment.
Fig. 2 is a block diagram illustrating a hardware configuration of a vehicle of the vehicle control system according to the embodiment.
Fig. 3 is a block diagram illustrating a functional configuration of the vehicle control device according to the embodiment.
Fig. 4 is a block diagram illustrating a hardware configuration of a remote control device of a vehicle control system according to an embodiment.
Fig. 5 is a block diagram illustrating a functional configuration of the remote control device according to the embodiment.
Fig. 6 is a block diagram illustrating a hardware configuration of an information server of the vehicle control system according to the embodiment.
Fig. 7 is a block diagram illustrating a functional configuration of an information server according to an embodiment.
Fig. 8 is a flowchart illustrating distribution reception control in the information server according to the embodiment.
Fig. 9 is a flowchart illustrating distribution control in a vehicle according to the embodiment.
Fig. 10 is a flowchart illustrating distribution control in a vehicle according to the embodiment.
Fig. 11 is a flowchart illustrating a driving state switching control of the remote operation device according to the embodiment.
Fig. 12 is a flowchart illustrating a remote operation driving end process of the remote operation device according to the embodiment.
Fig. 13 is a flowchart illustrating an automatic driving state recovery process in the vehicle according to the embodiment.
Detailed Description
A vehicle control system according to an embodiment will be described with reference to fig. 1 to 13.
(Structure)
As shown in fig. 1, a vehicle control system 10 according to a first embodiment includes a vehicle 12, a remote control device 14, and an information server 16.
The vehicle 12, the remote operation device 14, and the information server 16 of the present embodiment are connected to each other via a network N1.
The vehicle 12 is configured to be able to execute automatic driving that performs autonomous travel based on a travel plan generated in advance by the vehicle control device 20, remote operation driving based on an operation of a remote driver in the remote operation device 14, and manual driving based on an operation of an occupant (i.e., a driver) of the vehicle 12.
(vehicle)
Fig. 2 is a block diagram showing a hardware configuration of a device mounted on the vehicle 12 of the present embodiment. The vehicle 12 includes: a vehicle control device 20, a GPS (Global Positioning System) device 22, a camera 23, an external sensor 24 that is an external sensor other than the camera 23, an internal sensor 26, an input device 28, and an actuator 30.
The vehicle control device 20 is configured to include: a CPU (Central Processing Unit) 20A, ROM (Read Only Memory) 20B, RAM (Random Access Memory) 20C, a Memory 20D, a communication I/F (interface) 20E, and an input/output I/F20F. The CPU20A, the ROM20B, the RAM20C, the memory 20D, the communication I/F20E, and the input/output I/F20F are connected together via a bus 20G in a manner capable of mutual communication.
The CPU20A is a central processing unit, and executes various programs or controls each unit. That is, the CPU20A reads programs from the ROM20B and executes the programs with the RAM20C as a work area. In the present embodiment, the ROM20B stores an execution program.
As shown in fig. 2, the ROM20B stores various programs and various data. As a work area, the RAM20C temporarily stores programs or data.
The memory 20D is constituted by an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs including an operating system and various data.
The communication I/F20E includes an interface for connecting to the network N1 to communicate with the remote control device 40, the information server 16, and the like described later. The interface uses, for example, a communication standard such as ethernet (registered trademark), FDDI, Wi-Fi (registered trademark), or the like.
The communication I/F20E of the present embodiment transmits the surrounding image captured by the camera 23 to the remote operation device 14 outside the vehicle 12 via the network N1, and receives remote operation information, which is operation information for operating the vehicle 12, from the remote operation device 14. Further, the communication I/F20E receives distribution information (temporary destination information or temporary destination area information) from the information server 16 via the network N1.
The input/output I/F20F is an interface for communicating with each device mounted on the vehicle 12. The vehicle control device 20 of the present embodiment is connected to the GPS device 22, the camera 23, the external sensor 24, the internal sensor 26, the input device 28, and the actuator 30 via the input/output I/F20F. The GPS device 22, the camera 23, the external sensor 24, the internal sensor 26, the input device 28, and the actuator 30 may be directly connected to the bus 20G.
The GPS device 22 measures the current position of the vehicle 12. The GPS device 22 includes an antenna that receives signals from GPS satellites.
The camera 23 is a member that captures an image of the periphery of the vehicle 12 (hereinafter referred to as "peripheral image") including the front side of the vehicle 12.
The external sensor 24 is a sensor group that detects peripheral information around the vehicle 12 other than the camera 23. The external sensor 24 includes a millimeter wave radar that transmits a probe wave to a prescribed range, and a Laser Imaging Detection and Ranging (Laser Imaging Detection and Ranging) that scans a prescribed range.
The internal sensor 26 is a sensor group that detects the traveling state of the vehicle 12. The interior sensor 26 includes at least one of a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor.
The input device 28 is a switch group for operating a passenger riding in the vehicle 12. The input device 28 includes a steering wheel 28A as a switch for steering the steering wheel of the vehicle 12, an accelerator pedal 28B as a switch for accelerating the vehicle 12, and a brake pedal 28C as a switch for decelerating the vehicle 12.
The actuators 30 include a steering wheel actuator that drives a steering wheel of the vehicle 12, an accelerator actuator that controls acceleration of the vehicle 12, and a brake actuator that controls deceleration of the vehicle 12.
Fig. 3 is a block diagram showing an example of the functional configuration of the vehicle control device 20. As shown in fig. 3, the vehicle control device 20 includes: the operation information acquiring unit 200, the peripheral information acquiring unit 210, the vehicle information acquiring unit 220, the position information acquiring unit 230, the setting unit 240 for temporary destinations and the like, the travel plan creating unit 250, the travel control unit 260, the authority providing unit 270, and the switching unit 280. Each functional structure is realized by the CPU20A reading an execution program stored in the ROM20B and executing the execution program.
The operation information acquiring unit 200 acquires the operation amounts of the occupant (driver) with respect to the steering wheel 28A, the accelerator pedal 28B, and the brake pedal 28C from the input device 28 via the input/output I/F20F during manual driving of the vehicle 12.
The peripheral information acquisition unit 210 has a function of acquiring peripheral information of the periphery of the vehicle 12. The periphery information acquiring unit 210 acquires the image of the periphery of the vehicle 12 captured by the camera 23 via the input/output I/F20F, or acquires the periphery information of the vehicle 12 from the external sensor 24. The "peripheral information" includes not only the vehicles and pedestrians around the vehicle 12 but also weather, brightness, the width of the travel road, obstacles, and the like.
The vehicle information acquisition unit 220 has a function of acquiring vehicle information such as the vehicle speed, acceleration, yaw rate, and the like of the vehicle 12. The vehicle information acquisition unit 220 acquires the vehicle information of the vehicle 12 from the interior sensor 26 via the input/output I/F20F.
The position information acquisition unit 230 has a function of acquiring the current position of the vehicle 12. The positional information acquisition unit 230 acquires positional information from the GPS device 22 via the input/output I/F20F.
The temporary destination or the like setting unit 240 acquires temporary destination information or temporary destination area information associated with the cargo from the delivery information transmitted from the information server 16, and sets a temporary destination or a temporary destination area toward which the vehicle 12 is heading in the autonomous driving state.
The travel plan creating unit 250 has a function of generating a travel plan for traveling the vehicle 12 based on the position information acquired by the position information acquiring unit 230, the surrounding information acquired by the surrounding information acquiring unit 210, and the vehicle information acquired by the vehicle information acquiring unit 220. The travel plan includes not only a travel route set so as to carefully consider temporary destination information or temporary destination area information set in association with the load, but also information such as a travel path for avoiding an obstacle in front of the vehicle 12, a speed of the vehicle 12, and the like.
The travel control unit 260 has a function of controlling automatic driving based on the travel plan generated by the travel plan creation unit 250, remote operation driving based on remote operation information received from the remote operation device 14, and manual driving based on vehicle operation information received by the operation information acquisition unit 200.
The authority granting unit 270 has a function of granting an operation authority, which is an authority for operating the vehicle 12 mounted with the vehicle control device 20, to a recipient who operates the remote operation device 14 or a remote driver who is a person related to the recipient. When the remote driver is given an operation authority, the vehicle control device 20 transmits an authority transfer command to the remote operation device 14 operated by the remote driver. The transmission of the authority transfer command may be performed simultaneously with the notification of arrival at the temporary destination or temporary destination area, or may be performed after the arrival notification.
The switching portion 280 switches the driving state of the vehicle 12 among an automatic driving state, a remote operation state, and a manual driving state. In the present embodiment, after the authority transfer command is transmitted to the remote control device 40, when the preparation completion command is received from the remote control device 40, the vehicle 12 is switched from the automatic driving state to the remote operation driving state. Further, when the preparation completion command is transmitted to the remote control device 40 after receiving the authority transfer command from the remote control device 40, the vehicle 12 is switched from the remote operation driving state to the automatic driving state.
In addition, the operation authority is transferred from the vehicle 12 to the remote operation device 14, so that the vehicle 12 performs traveling based on the remote operation information received from the remote operation device 14. That is, the remote operation driving of the vehicle 12 is performed by the remote driver.
(remote operation device)
Fig. 4 is a block diagram showing a hardware configuration of an instrument mounted on the remote operation device 14 according to the present embodiment. The remote operation device 14 includes a remote control device 40, a display device 42, a speaker 44, and an input device 46.
The remote control device 40 is configured to include a CPU40A, a ROM40B, a RAM40C, a memory 40D, a communication I/F40E, and an input/output I/F40F. The CPU40A, the ROM40B, the RAM40C, the memory 40D, the communication I/F40E, and the input/output I/F40F are connected together so as to be able to communicate with each other via a bus 40G. The functions of the CPU40A, ROM40B, RAM40C, memory 40D, communication I/F40E, and input/output I/F40F are the same as those of the CPU20A, ROM20B, RAM20C, memory 20D, communication I/F20E, and input/output I/F20F of the vehicle control device 20 described above.
The CPU40A reads the program from the ROM40B and executes the program with the RAM40C as a work area. In the present embodiment, the ROM40B stores a processing program. By executing the processing program by CPU40A, remote control device 40 functions as travel information acquisition unit 400, operation information generation unit 410, notification unit 420, and operation switching unit 430 shown in fig. 5.
As shown in fig. 4, in the remote control device 40 of the present embodiment, a display device 42, a speaker 44, and an input device 46 are connected via an input/output I/F40F. The display device 42, the speaker 44, and the input device 46 may be directly connected to the bus 40G.
The display device 42 is a liquid crystal display for displaying the image of the periphery of the camera 23 of the vehicle 12 or various information related to the vehicle 12.
The speaker 44 is a device that sounds an alarm sound notifying that the vehicle 12 has arrived at the temporary destination or the temporary destination area, and reproduces a voice recorded together with the surrounding image by a microphone attached to the camera 23 of the vehicle 12.
The input device 46 is a controller for operation by a remote driver using the remote operation device 14. The input device 46 is, for example, a game controller connected to the network N1, and steers the steering wheel of the vehicle 12 and accelerates and decelerates the vehicle 12. The mode of the input device 46 is not limited to this.
For example, the display device 42 and the speaker 44 of the remote operation device 14 are a liquid crystal display screen and a speaker of a smartphone, respectively, and the input device 46 may be a pressure sensor and an acceleration sensor provided in the liquid crystal display. In this case, it is conceivable to adjust the acceleration/deceleration of the vehicle 12 by changing the pressing force to the liquid crystal display, or to adjust the steering amount of the vehicle 12 by rotating the smartphone itself.
Fig. 5 is a block diagram showing an example of the functional configuration of the remote control device 40. As shown in fig. 5, remote control device 40 includes travel information acquisition unit 400, operation information generation unit 410, notification unit 420, and operation switching unit 430.
The travel information acquisition unit 400 has a function of acquiring vehicle information such as the surrounding image and the voice of the camera 23 and the vehicle speed transmitted from the vehicle control device 20. The acquired surrounding image or vehicle information is displayed on the display device 42, and voice information is output from the speaker 44.
The operation information generation unit 410 has a function of receiving a signal output from the input device 46 when remote operation driving by a remote driver is performed. Further, the operation information generation unit 410 generates remote operation information to be transmitted to the vehicle control device 20 based on the signal received from the input device 46.
The notification unit 420 receives the arrival notification signal from the vehicle control device 20, and outputs the alarm signal to the speaker 44. Thus, the alarm sound is emitted through the speaker 44, and the remote driver is notified that the vehicle 12 has reached the temporary destination or the temporary destination area. That is, the remote driver is prompted to prepare for the remote operation driving.
The operation switching unit 430 has a function of switching from the automatic driving state to the remote operation driving state for the vehicle control device 20. In the remote operation device 14, when the remote driver who performs remote operation driving operates the operation unit, a preparation completion command is output to the vehicle control device 20. For example, when the information relating to the operation authority has been received from the vehicle control device 20 of the vehicle 12, the operation switching unit 430 outputs a preparation completion command to the vehicle control device 20, thereby performing switching from the automatic driving state to the remote operation driving state in the vehicle 12.
(information server)
As shown in fig. 6, the information server 16 is configured to include a CPU60A, a ROM60B, a RAM60C, a memory 60D, and a communication I/F60E. The CPU60A, the ROM60B, the RAM60C, the memory 60D, and the communication I/F60E are connected together via a bus 60G in a manner capable of mutual communication. The functions of the CPU60A, ROM60B, RAM60C, memory 60D, and communication I/F60E are the same as those of the CPU20A, ROM20B, RAM20C, memory 20D, and communication I/F20E of the vehicle control device 20 described above.
The CPU60A reads programs from the ROM60B or the memory 60D, and executes the programs with the RAM60C as a work area. In the present embodiment, an information processing program is stored in the memory 60D. The CPU60A executes an information processing program to function as the delivery acceptance information acquisition unit 600, the setting promotion unit 610 for temporary destinations and the like, the delivery information generation unit 620, the delivery information transmission unit 630, and the non-delivery information transmission unit 640 shown in fig. 7.
Fig. 7 is a block diagram showing an example of the functional configuration of the information server 16. As shown in fig. 7, the information server 16 includes a delivery acceptance information acquisition unit 600, a temporary destination setting promotion unit 610, a delivery information generation unit 620, a delivery information transmission unit 630, and a non-delivery information transmission unit 640.
The delivery acceptance information acquisition unit 600 is a component that acquires delivery acceptance information based on the input electronic information when the delivery of the cargo is accepted. The delivery acceptance information includes the name, address, mail address, name, temporary destination or temporary destination area (hereinafter, may be simply referred to as "temporary destination or the like"), mail address, type of goods, and the like of the consignor.
The temporary destination or the like setting promoting unit 610 has a function of determining that it is desired to set a temporary destination or a temporary destination area by the receiver when the temporary destination or the like is not set in the delivery acceptance information, and transmitting the setting promoting mail for promoting the setting of the temporary destination or the temporary destination area to the mail address of the receiver registered in advance as the delivery acceptance information.
The temporary destination or the temporary destination area is a place or an area where the receiver performs remote operation driving from the place to the residence (for example, the own home) of the receiver as the delivery destination when the vehicle 12 performing automatic driving (delivery) reaches the temporary destination or the temporary destination area.
For example, a park near the own home can be set as a temporary destination, or the same street including the own home can be set as a temporary destination area. In the case of the temporary destination area, when the vehicle 12 reaches the edge portion of the temporary destination area, the vehicle 12 is directly switched from the automatic driving state to the remote operation driving state.
The delivery information generating unit 620 reads the temporary destination or the temporary destination area set in the delivery acceptance information, and generates delivery information in which the temporary destination information or the temporary destination area information is associated with the cargo.
The delivery information transmitting unit 630 transmits the delivery information to the vehicle 12 that delivers the cargo.
When a predetermined time has elapsed since the setting promotion mail was transmitted and the setting of a temporary destination or the like by the receiver has not been performed, the undeliverable-mail transmission unit 640 transmits the undeliverable mail to the client.
(action)
The operation of the vehicle control system 10 according to the present embodiment will be described.
First, a case where the vehicle 12 is driven manually, automatically, or remotely by the vehicle control system 10 will be briefly described, and next, a case where the vehicle control system 10 is applied to a distribution system will be described.
First, the manual driving, automatic driving, and remote operation driving of the vehicle 12 will be briefly described.
When the manual driving of the vehicle 12 is selected, operation amounts such as the amount of depression of the accelerator pedal, the amount of depression of the brake pedal, and the amount of rotation of the steering wheel by the occupant (driver) are acquired by the operation information acquisition unit 200 of the vehicle control device 20, and are output to the travel control unit 260. The travel control unit 260 of the vehicle control device 20 transmits a control signal based on the operation amount to the actuator 30, and the vehicle 12 travels by manual driving.
On the other hand, when the automatic driving of the vehicle 12 is selected, the travel plan creating unit 250 creates a travel plan based on the temporary destination information or the temporary destination area information acquired by the temporary destination setting unit 240, the peripheral information of the camera 23, the external sensor 24, and the like, the position information acquired by the position information acquiring unit 230, and the like. The vehicle 12 travels under autonomous driving up to a temporary destination or a temporary destination area based on the created travel plan.
Further, when the remote operation driving of the vehicle 12 is selected, the remote driver operates the input device 46 while observing the surrounding image or the like captured by the camera 23 of the vehicle 12 through the remote operation device 14. The operation information generating unit 410 of the remote operation device 14 generates an operation information signal corresponding to the operation amount, and transmits the operation information signal to the vehicle control device 20. The travel control unit 260 of the vehicle control device 20 transmits a control signal based on these pieces of information to the actuator 30, and the vehicle 12 travels by remote operation driving.
Next, a description will be given of a case where the vehicle control system 10 is applied to a distribution system in which the vehicle 12 is automatically driven up to a temporary destination or a temporary destination area near a distribution destination of the cargo (for example, the own home), and the vehicle 12 is driven by remote operation of a receiver or a person related thereto (hereinafter, sometimes referred to as a "receiver or the like") from the temporary destination or up to the own home in the temporary destination area.
As shown in fig. 8, when the CPU60A acquires the delivery acceptance information (yes in step S100), the information server 16 determines whether or not a temporary destination or the like is set in the delivery acceptance information (step S102).
When the delivery acceptance information is not acquired (no in step S100), the system waits until acquisition.
If the delivery acceptance information does not include the temporary destination or the like (no in step S102), the CPU60A transmits a setting promotion mail prompting the receiver to set the temporary destination or the temporary destination area in the delivery acceptance information to the registered mail address of the receiver (step S104). This is to urge the receiver to set the temporary destination or the temporary destination area by determining that there is a request for the receiver to set the temporary destination or the temporary destination area by himself/herself when the delivery acceptance information does not include the temporary destination or the like.
The CPU60A determines whether or not a temporary destination or a temporary destination area is set in the distribution acceptance information by the receiver (step S106).
If the delivery acceptance information does not include the temporary destination or the temporary destination area (no in step S106), the CPU60A determines whether or not a predetermined time has elapsed since the transmission of the setting promotion mail (step S108).
The CPU60A repeats the processing from step S106 onward until a predetermined time elapses after the setting promotion mail is transmitted (no in step S108).
On the other hand, if the predetermined time has elapsed since the transmission of the setting promotion mail and the temporary destination or temporary destination area has not been set in the distribution acceptance information (yes in step S108), the CPU60A transmits the undeliverable mail to the mail address of the consignor, which is the delivery-disabled mail, and ends the process (step S110).
On the other hand, when a temporary destination or the like is set in the delivery acceptance information (yes in step S102), or when a temporary destination or the like is set in the delivery acceptance information within a predetermined time after the transmission mail is set to be sent (yes in step S106), delivery information in which the temporary destination information or the temporary destination area information is associated with the cargo is generated (step S112), and the delivery information is transmitted to the vehicle control device 20 of the vehicle 12 that delivers the cargo (step S114).
Next, the vehicle 12 that has transmitted the delivery information in the above-described manner will be described with reference to fig. 9 and 10.
When the CPU20A of the vehicle control device 20 receives the delivery information from the information server 16 (yes in step S200), it acquires the temporary destination information or the temporary destination area information from the delivery information (step S202). The temporary destination is a place where the vehicle 12 is switched from the automatic driving state to the remote operation driving state or the manual driving state. The temporary destination area is an area in which the vehicle 12 is switched from the automatic driving state to the remote operation driving state or the manual driving state when the vehicle 12 reaches the temporary destination area. In the present embodiment, a case of switching the remote operation driving state will be described.
When the distribution information is not acquired (no in step S200), the CPU20A waits until acquisition.
Next, the CPU20A acquires the position information of the current position of the vehicle 12 (step S204).
Further, the CPU20A creates a travel plan based on the temporary destination or temporary destination area and the current position information of the vehicle 12 and the like (step S206).
The CPU20A outputs a control signal based on the travel plan to the actuator 30 (step S208). Thereby, the vehicle 12 performs automatic driving toward the temporary destination or the temporary destination area.
After a predetermined time has elapsed, the CPU20A acquires the position information of the current position of the vehicle 12 again (step S210).
Next, the CPU20A determines whether or not the vehicle 12 has reached a temporary destination or the like based on the acquired current position of the vehicle 12 (step S212). In the case of the temporary destination area, it is determined whether or not the vehicle 12 has arrived within the temporary destination area.
If the vehicle 12 does not arrive at the temporary destination or the like (no in step S212), the CPU20A repeats the processing from step S206 to step S.
On the other hand, as shown in fig. 10, when the vehicle 12 has arrived at the temporary destination or the like (yes in step S212), the CPU20A transmits an arrival notification signal to the remote control device 40 in order to notify the receiver that the vehicle 12 has arrived at the temporary destination or the temporary destination area (step S214).
Next, the CPU20A transmits an authority transfer command to the remote control apparatus 40 (step S216).
Further, as will be described later, the CPU20A determines whether or not the preparation completion command transmitted from the remote control device 40 has been received (step S218).
When receiving the preparation completion command from the remote control device 40 (yes at step S218), the CPU20A switches the vehicle 12 from the automatic driving state to the remote operation driving state (step S220). That is, the vehicle 12 is set to be able to travel based on the remote operation information from the remote control device 40.
When the preparation completion command is not received (no in step S218), the standby is performed until the reception.
Next, the remote operation device 14 that starts remote operation by a signal from the vehicle control device 20 as described above will be described.
In the remote control device 40, as shown in fig. 11, the CPU40A determines whether or not an arrival notification signal has been received from the vehicle 12 (step S300).
When the CPU40A receives the arrival notification signal (yes in step S300), it generates an alarm signal and outputs the alarm signal to the speaker 44 (step S302). Thus, the speaker 44 emits an alarm sound to notify the receiver or the like that the vehicle 12 has reached the temporary destination or the temporary destination area and that remote operation is necessary.
When the arrival notification signal is not received (no in step S300), the CPU40A waits.
Next, the CPU40A receives an authority transfer command from the vehicle 12 (step S304).
Next, the CPU40A confirms whether or not the receiver of the cargo or the remote driver who is a person related thereto is in a state in which the remote operation driving is possible (step S306). When the switch or the like of the remote operation device 14 is operated to input the content that the remote driver is in the state in which the remote operation is possible, the CPU40A determines that the remote driver is able to perform the remote operation.
When determining that the remote operation driving is possible by the remote driver (yes at step S306), the CPU40A transmits a preparation completion command to the vehicle control device 20 (step S308). When the vehicle control device 20 receives the preparation completion command and switches the automatic driving state of the vehicle 12 to the remote operation driving state, the remote operation device 14 can remotely operate and drive the vehicle 12.
Next, the CPU40A starts transmission of the remote operation information to the vehicle control device 20 (step S310). Specifically, a signal from the input device 46 in accordance with an operation by the remote driver is acquired, and remote operation information generated based on the acquired signal is transmitted to the vehicle control device 20. Thereby, in the vehicle 12, the remote operation driving is performed. The reception process by the CPU40A is completed.
In this way, by the remote operation device 14 that is capable of remote operation driving being operated by the remote driver such as the receiver, the vehicle 12 is driven by remote operation driving until the receiver's residence, for example, his/her own home, and the load is received.
Then, the remote driver performs the end processing of the remote operation driving after driving the vehicle 12 to a position away from the residence of the receiver in the remote operation driving.
The process of the remote operation driving and the process of the vehicle control device 20 will be described with reference to fig. 12 and 13, respectively.
As shown in fig. 12, CPU40A of remote control device 40 determines whether or not the remote operation has ended (step S400). Specifically, when the remote driver operates and inputs a switch or the like of the remote operation device 14, the CPU40A determines that the remote operation is ended.
When the remote operation has not been completed (no in step S400), the CPU40A stands by.
On the other hand, when the remote operation is ended (yes in step S400), the CPU40A transmits an authority transfer command to the vehicle control device 20 (step S402).
Next, the CPU40A determines whether or not a preparation completion command has been received from the vehicle control device 20 (step S404).
When the preparation completion command is not received (no in step S404), the CPU40A stands by until it is received.
On the other hand, when the preparation completion command is received (yes in step S404), the CPU40A executes the remote operation termination processing (step S406) and terminates the processing. Specifically, processing such as invalidation of the operation input of the input device 46 of the remote operation device 14 is performed.
In contrast, the vehicle control device 20 performs the following processing as shown in fig. 13.
The CPU20A determines whether or not an authority transfer command is received from the remote control apparatus 40 (step S500).
When the authority transfer command is not received from the remote control device 40 (no in step S500), the CPU20A stands by.
When the authority transfer command is received from the remote control device 40 (yes at step S500), the CPU20A switches the vehicle 12 from the remote operation driving state to the automatic driving state (step S502).
Next, the CPU20A transmits a preparation completion command to the remote control device 40 (step S504).
Thereafter, the CPU20A starts the automated driving on the vehicle 12 (step S506). When there is a next temporary destination or the like, a travel plan based on a travel route or the like up to the temporary destination or the like is created, and a control signal based on the travel plan is output to the actuator 30, whereby the vehicle 12 is caused to perform autonomous driving travel. In addition, when there is no next temporary destination or the like, the vehicle 12 is automatically driven so as to return to the office.
In this way, in the vehicle control system 10 according to the present embodiment, the vehicle 12 that distributes the cargo is caused to travel by automatic driving until a preset temporary destination that is not the distribution destination or the like, and is caused to travel from the temporary destination to the distribution destination (the residence of the receiver of the cargo (for example, the own home)) by remote operation driving of the receiver or the like. Therefore, the vehicle control system 10 distributes the cargo, thereby eliminating the possibility that the carrier will know the residence (residence) of the receiver, and being excellent in terms of privacy protection.
In the vehicle control system 10, the remote driver determines the end time of the remote operation driving, instead of the end time of the remote operation driving being set at the time of receiving the cargo. Therefore, after the receiver receives the cargo by himself/herself, the remote operation driving can be switched to the automatic driving after the vehicle is moved to a position away from the receiver's own home. Therefore, it is possible to prevent the person to be transported from estimating the position of the person from his/her own home from the remote driving end point, and the like, and it is further excellent in terms of privacy protection.
Further, in the vehicle control system 10, since the starting point of the remote operation driving of the vehicle 12 by the receiver or the like is limited to the temporary destination or the temporary destination area in the vicinity of the residence of the receiver, the distance of the remote operation driving of the vehicle 12 is short, and the complication of the receiver or the like is suppressed.
In addition, when the receiver selects the temporary destination, it is possible to designate a location as a route that facilitates remote operation driving until the receiver's residence (for example, his/her own home).
On the other hand, when the recipient selects a temporary destination area including a residence (for example, the own home), if the vehicle 12 reaches the temporary destination area, the remote operation driving state is switched, so that the degree of freedom of selection is increased for the travel route of the vehicle 12, and as a result, the autonomous driving distance can be set short, and the delivery time can be shortened.
In the vehicle control system 10, since the arrival notification signal is transmitted to the remote control device 40 at the time point when the vehicle 12 arrives at the temporary destination or the like, and the speaker 44 of the remote operation device 14 emits the warning sound, the remote driver as the receiver or the like can easily confirm the remote operation driving start timing.
In other words, the switching from the automatic driving to the remote operation driving of the vehicle 12 becomes smooth, and the delivery time is shortened.
(others)
In the vehicle control system 10, the automatic driving is switched to the remote operation driving, but the automatic driving may be switched to the manual driving. In this case, when the vehicle 12 arrives at the temporary destination or the temporary destination area, the vehicle 12 is stopped in a safe place and is put on standby, and the automatic driving state is switched to the manual driving state. Further, the receiver who recognizes that the vehicle 12 has arrived by the arrival signal being transmitted to the remote control device 40 as an alarm sound proceeds to the vehicle 12, and manually drives the vehicle 12 until the receiver's residence.
In the above embodiment, when the vehicle 12 reaches the temporary destination or the temporary destination area, the automatic driving state is switched to the remote operation driving state, but the vehicle 12 may be temporarily stopped at a safe place at the time of switching. Specifically, as shown in fig. 10, the vehicle control device 20 transmits the authority assignment command to the remote control device 40 (step S216), and thereafter stops the vehicle 12 at a safe place. As a result, after receiving the authority assignment command shown in fig. 11 (step S304), the remote control device 40 can adjust the time until the receiver operates the switch of the remote operation device 14 (the remote driver is ready).
That is, when the vehicle 12 is switched from the automatic driving state to the remote operation driving state, the vehicle 12 is temporarily stopped in a safe place, so that the remote driver as a receiver or the like can start the remote operation driving at a convenient timing.
In the embodiment, the vehicle control system 10 is used as a distribution system of the cargo, but is not limited thereto. For example, it can be applied to a system for delivering a child from a learning facility to the home. In this case, when the vehicle 12 arrives at a temporary destination or a temporary destination area near the own home, the parent at the own home can operate the remote operation device 14 to remotely operate and drive the vehicle 12 to the own home. Therefore, it is sufficient to make the learning facility side not to know the home address of the user. Namely, it is excellent in terms of privacy protection.
In the embodiment, the alarm sound is emitted from the speaker 44 of the remote operation device 14, and the arrival of the vehicle 12 at the temporary destination or the like is notified to the receiver or the like. For example, the notification may be made by displaying an arrival message on the display device 42 of the remote operation device 14, or may be made by turning on an arrival lamp or the like of the remote operation device 14.
In the present embodiment, the position information is always acquired, but the position information acquisition unit 230 may stop acquiring the position information when the vehicle 12 reaches the temporary destination or the temporary destination area and switches from the automatic driving state to the manual driving state or the remote operation driving state. Therefore, when the receiver of the cargo drives the vehicle from the temporary destination to the residence of the receiver or drives the vehicle in the temporary destination area to the residence of the receiver, the position information is not recorded. That is, the situation in which the residence of the recipient of the cargo is grasped by the transporting person or the like is further suppressed, and the privacy protection of the user is excellent.
In this case, the position information acquisition unit 230 may be configured to resume the acquisition of the position information at the timing when the vehicle 12 returns to the autonomous driving state.
In the present embodiment, the vehicle control system capable of switching between the three states of manual driving, remote operation driving, and automatic driving has been described, but the vehicle control system may be a vehicle control system capable of switching between the two states of manual driving and automatic driving, and remote operation driving and automatic driving.
When the vehicle control system can switch between the manual driving state and the automatic driving state, all the components of the system may be disposed in the vehicle.
Claims (16)
1. A vehicle control system is provided with:
a temporary destination or other setting unit that sets a temporary destination or a temporary destination area to which the vehicle is heading in the autonomous driving state;
a travel control unit that causes the vehicle to travel to a temporary destination or a temporary target area set by the temporary destination or the like setting unit in an autonomous driving state;
a position information acquisition unit that acquires position information of the vehicle;
and a switching unit that switches a driving state of the vehicle from an automatic driving state to a manual driving state or a remote operation driving state when it is detected that the vehicle has reached the temporary destination or the temporary destination area based on the position information.
2. The vehicle control system according to claim 1,
the vehicle control device further includes a notification unit that, when it is detected based on the position information that the vehicle has reached the temporary destination or the temporary destination area, notifies a driver of the vehicle in a manual driving state or a remote driver of the vehicle in a remote operation driving state of the vehicle of the case where the vehicle has reached the temporary destination or the temporary destination area.
3. The vehicle control system according to claim 1 or 2,
the vehicle is a vehicle that delivers a cargo, and the vehicle is configured such that a receiver of the cargo can perform manual driving or remote operation driving from the temporary destination to a delivery destination of the cargo.
4. The vehicle control system according to claim 1 or 2,
the vehicle is a vehicle that delivers a cargo, the temporary destination area is an area including a delivery destination of the cargo, and a receiver of the cargo can drive the vehicle manually or remotely up to the delivery destination of the cargo within the temporary destination area.
5. The vehicle control system according to any one of claims 1 to 4,
when reaching a temporary destination or a temporary destination area, the vehicle will temporarily stop.
6. The vehicle control system according to any one of claims 1 to 5,
the position information acquisition unit stops the acquisition of the position information when the vehicle is in a manual driving state or a remote operation driving state.
7. A vehicle control device is provided with:
a travel control unit that causes the vehicle to travel to a set temporary destination or temporary destination area in an autonomous driving state;
a position information acquisition unit that acquires position information of the host vehicle;
and a switching unit that switches a driving state of the host vehicle from an automatic driving state to a manual driving state or a remote operation driving state when it is detected that the host vehicle has reached the temporary destination or the temporary destination area based on the position information.
8. The vehicle control apparatus according to claim 7,
when it is detected that the host vehicle has reached the temporary destination or temporary destination area based on the position information, a notification is given to a driver of the host vehicle in a manual driving state or a remote driver of the host vehicle in a remote operation driving state when the host vehicle has reached the temporary destination or temporary destination area.
9. The vehicle control apparatus according to claim 7 or 8,
the host vehicle is a vehicle that delivers a cargo, and the host vehicle is configured such that a receiver of the cargo can perform manual driving or remote operation driving from the temporary destination to the delivery destination of the cargo.
10. The vehicle control apparatus according to claim 7 or 8,
the host vehicle is a vehicle that delivers a cargo, the temporary destination area is an area including a delivery destination of the cargo, and a receiver of the cargo can manually drive or remotely operate and drive the host vehicle up to the delivery destination of the cargo within the temporary destination area.
11. The vehicle control apparatus according to any one of claims 7 to 10,
when reaching a temporary destination or a temporary destination area, the own vehicle will temporarily stop.
12. The vehicle control apparatus according to any one of claims 7 to 11,
the position information acquisition unit stops the acquisition of the position information when the host vehicle is in a manual driving state or a remote operation driving state.
13. A vehicle control method, in which method,
by a processor, implementing:
the vehicle is driven to a set temporary destination or a temporary destination area in an automatic driving state,
the position information of the vehicle is acquired,
when it is detected that the host vehicle has reached the temporary destination or the temporary destination area based on the position information, the driving state of the host vehicle is switched from the automatic driving state to the manual driving state or the remote operation driving state.
14. The vehicle control method according to claim 13,
when it is detected that the host vehicle has reached the temporary destination or temporary destination area based on the position information, a notification is given to a driver of the host vehicle in a manual driving state or a remote driver of the host vehicle in a remote operation driving state when the host vehicle has reached the temporary destination or temporary destination area.
15. The vehicle control method according to claim 13 or claim 14,
when reaching a temporary destination or a temporary destination area, the own vehicle will temporarily stop.
16. The vehicle control method according to any one of claims 13 to 15,
the acquisition of the position information is stopped when the host vehicle is in a manual driving state or a remote operation driving state.
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Also Published As
| Publication number | Publication date |
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| JP7159991B2 (en) | 2022-10-25 |
| US20210024093A1 (en) | 2021-01-28 |
| JP2021018714A (en) | 2021-02-15 |
| US11396310B2 (en) | 2022-07-26 |
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